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作者： Sakai, Ken-Ichiro Noda, Yuta Tsumagari, Daiki Deguchi, Hiroyuki Takeda, Kaoru Yoshitake, Tsuyoshi Department of Applied Science for Electronics and Materials Kyushu University Fukuoka Kasuga 816-8580 Japan Department of Control and Information Systems Engineering Kurume National College of Technology Fukuoka Kurume 830-8555 Japan Faculty of Engineering Kyushu Institute of Technology Fukuoka Kitakyushu 804-8550 Japan Department of Electrical Engineering Fukuoka Institute of Technology Fukuoka 811-0295 Japan

Fe3Si/FeSi2 artificial lattices, wherein ferromagnetic (F)/antiferromagnetic (AF) interlayer coupling between the Fe 3Si layers were induced by controlling the thickness of FeSi 2 layers, were prepared on Si(111) substrates by facing targets direct-current sputtering. The interlayer couplings were investigated at different temperatures by measuring the magnetization curves. The AF coupling at room temperature was gradually weakened with a decrease in the temperature, and it finally became ferromagnetic or noncoupled at temperatures lower than 77 K. We consider that the FeSi2 layers act as semiconductors and their change in the electric state for the temperature induces the interlayer coupling switching. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

关键词： Ferromagnetism

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Robust Model Predictive controller Design

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IFAC Proceedings Volumes 2014年第3期47卷 7443-7448页

作者： Daniel Vozák Vojtech Veselý Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 812 19 Bratislava

This paper addresses to the problem of designing, modelling and practical realization of robust model predictive control which ensures a parameter dependent quadratic stability and guaranteed cost for linear polytopic systems. The design procedure based on BMI and LMI is reduced to off-line output feedback gain calculation. A numerical example and an application to a real process is given to illustrate the effectiveness of the proposed method.

关键词： MPC Robust stability Polytopic model LMI Output feedback

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Finite element analysis of a novel bearingless flux-switching permanent magnet motor with the single winding

Finite element analysis of a novel bearingless flux-switchin...

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International Conference on electrical Machines and Systems (ICEMS)

作者： Hongyun Jia Chao Fang Tao Zhang School of Information and Control Nanjing University of Information Science and Technology China Faculty of electronic and Electrical Engineering Huaiyin Institute of Technology China

In this paper, a novel bearingless flux-switching permanent magnet (BFSPM) motor with the single winding is proposed, in which the magnets, suspending winding, and armature windings and PMs are in the stator, while no PMs or windings is in the rotor. Hence, this novel bearingless PM motor can be called as stator PM bearingless motor, which exhibits advantages such as simpler rotor construction and capability of fault tolerant operation, comparing with the traditional bearingless motor with double winding. Its topology structure and radial suspension force principle are introduced firstly. Then, the static characteristics are investigated, including field distributions, air gap magnetic density and torque. The relationship between suspension force and winding currents were calculated. Finally, finite element method (FEM) is used to verify the theoretical analysis results.

关键词： Suspensions Force Permanent magnet motors Induction motors Rotors Reluctance motors Windings

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Optimization of Robotic Arm Trajectory Using Genetic Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 1748-1753页

作者： Stanislav Števo Ivan Sekaj Martin Dekan Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic

The paper presents a genetic algorithm - based design approach of the robotic arm trajectory control with the optimization of various criterions. The described methodology is based on the inverse kinematics problem and it additionally considers the minimization of the operating-time, and/or the minimization of energy consumption as well as the minimization of the sum of all rotation changes during the operation cycle. Each criterion evaluation includes the computationally demanding simulation of the arm movement. The proposed approach was verified and all the proposed criterions have been compared on the trajectory optimization of the industrial robot ABB IRB 6400FHD, which has six degrees of freedom.

关键词： Robotic arm trajectory genetic algorithm inverse kinematics problem energy consumption minimization operating time minimization joint rotation minimization

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From Linear to Nonlinear Model Predictive control of a Building

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IFAC Proceedings Volumes 2014年第3期47卷 587-592页

作者： Matej Pčolka Eva Žáčeková Rush Robinett Sergej Čelikovský Michael Sebek Department of Control Engineering Faculty of Electrical Engineering of Czech Technical University in Prague Czech Republic Mechanical Engineering-Engineering Mechanics Michigan Technological University United States Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Czech Republic

In the building climate control area, the linear model predictive control (LMPC)—nowadays considered a mature technique—benefits from the fact that the resulting optimization task is convex (thus easily and quickly solvable). On the other hand, while nonlinear model predictive control (NMPC) using a more detailed nonlinear model of a building takes advantage of its more accurate predictions and the fact that it attacks the optimization task more directly, it requires more involved ways of solving the non-convex optimization problem. In this paper, the gap between LMPC and NMPC is bridged by introducing several variants of linear time-varying model predictive controller (LTVMPC). Making use of linear time-varying model of the controlled building, LTVMPC obtains predictions which are closer to reality than those of linear time invariant model while still keeping the optimization task convex and less computationally demanding than in the case of NMPC. The concept of LTVMPC is verified on a set of numerical experiments performed using a high fidelity model created in a building simulation environment and compared to the previously mentioned alternatives (LMPC and NMPC) looking at both the control performance and the computational requirements.

关键词： Predictive control adaptive control recursive identification

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The Puzzle of the La I Lines 6520.644 A and 6519.869 A

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Spectral Analysis Review 2014年第3期2卷 10-18页

作者： Laurentius Windholz Bettina Gamper Przemyslaw Glowacki Jerzy Dembczyński Institut für Experimentalphysik Technische Universitat GrazGrazOsterreich Laboratory of Quantum Engineering and Metrology Faculty of Technical PhysicsPoznań University of TechnologyPoznańPoland Institute of Control and Information Engineering Faculty of Electrical EngineeringPoznań University of TechnologyPoznańPoland

The strong La line 6520.644 ? is present in a Fourier Transform Spectrum (signal to noise ratio of 240), but its wavelength in commonly used tables (e.g. [1]) is given as 6520.770 ?, while in [2] the wavelength is given as 6520.74 ?, unclassified, with the remark “h” (hazy). The line could not be classified using known energy levels of the La atom (La I) and its first ion (La II). It appears as a single broadened peak. By a combination of laser optogalvanic spectroscopy, laser-induced fluorescence and Doppler-reduced saturation spectroscopy we could introduce a new even parity La I energy level, 35449.041 cm -1, J = 13/2, with hyperfine (hf) constants A = ?8.0(5) MHz, B = 10(10) MHz. For a second, up to now unknown neighbouring La I line (wavelength 6519.869 ?) we introduced another even parity energy level involved in the formation of the line, 41207.994 cm?-1, J = 13/2, A = 91.6(5) MHz, B = 170(50) MHz. We tried also to explain why in old tables the wavelength given was so different.

关键词： Lanthanum Energy Levels Laser Spectroscopy

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Economical nonlinear model predictive control for building climate control

Economical nonlinear model predictive control for building c...

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2014 American control Conference, ACC 2014

作者： Pcolka, Matej Žáčeková, Eva Robinett, Rush Čelikovsky, Sergej Šebek, Michael Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 166 27 Praha 6 Czech Republic Department of Mechanical Engineering-Engineering Mechanics Michigan Technological University 1400 Townsend Drive Houghton MI United States Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Praha 8 Czech Republic

ISBN: (纸本)9781479932726

In this paper, two alternatives approaches to model predictive control (MPC) are compared and contrasted for the role of zone temperature controller - the commonly used linear formulation (LMPC) and rather unconventional nonlinear formulation (NMPC). The economical focus is reflected by the performance criterion being a combination of the comfort requirements and the monetary cost penalties (price of the consumed hot water and the electricity needed to deliver the water to the building) of the controlled inputs. With this formulation, the optimal controller drives toward minimization of the real price rather than minimization of abstract quantities. It turns out that the NMPC is able to attack the cost minimization directly while retaining a compact optimization formulation as opposed to the suboptimal linear alternative. A considerable part of the superiority of the NMPC can be owed also to the use of a nonlinear model that captures the nonlinear building dynamics much more accurately than the linear models. Thanks to an enhanced search step choice introduced in this paper, the NMPC outperforms both the LMPC and the conventional controller significantly even under severe computational restrictions which demonstrates its strong practical applicability. © 2014 American Automatic control Council.

关键词： Nonlinear systems

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Cooperative Suspended Object Manipulation Using Reinforcement Learning and Energy-based control

Cooperative Suspended Object Manipulation Using Reinforcemen...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Ivana Palunko Philine Donner Martin Buss Sandra Hirche Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Institute of Automatic Control Engineering and TUM-IAS Technische Universitat Munchen 80290 Munchen Germany Institute for Information-oriented Control Technische Universitat Munchen 80290 Munchen Germany

ISBN: (纸本)9781479969357

Cooperative dynamic object manipulation can extend the manipulation capabilities of robot-robot and human-robot teams. In order to be able to inject energy into various suspended objects of unknown parameters, in this paper we propose an adaptive controller which combines reinforcement learning with energy based swing-up control. The proposed controller is successfully verified in a single robot and human-robot experimental setup for different types of suspended objects.

关键词： Adaptation models Gold Approximation methods Mathematical model Frequency estimation Manipulator dynamics

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Stability and stabilization of positive switched systems under asynchronous switching

Stability and stabilization of positive switched systems und...

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International Conference on Mechatronics and control (ICMC)

作者： Junfeng Zhang Wei Zhang Xiushan Cai Zhengzhi Han School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Information and Control Hangzhou Dianzi University Hangzhou China Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Shanghai China College of Mathematics Zhejiang Normal University Jinhua China

ISBN: (纸本)9781479925391

This paper investigates stability and stabilization of positive switched systems under asynchronous switching, which means that the switching of the controller has a delay to that of the system mode. First, two sufficient conditions for the stability of autonomous systems are established. The first one is obtained by using the linear copositive Lyapunov function incorporated with linear programming method, which allows the Lyapunov function to increase during the running time of the active mode. The second one is only based on linear programming. Then, by combining two obtained results, the state-feedback stabilization of non-autonomous systems under asynchronous switching is solved and an average dwell time is designed. Finally, an example is given to illustrate the effectiveness of the obtained results.

关键词： Switches Lyapunov methods Stability analysis Switched systems Linear systems Delays

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Modeling of the Blood Pressure Regulation System in Rats Using Genetic Algorithms

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IFAC Proceedings Volumes 2014年第3期47卷 11589-11594页

作者： Ivan Sekaj Peter Bališ Miroslava Majzúnová Michal Behuliak Josef Zicha Slavomír Kajan Stanislav Števo Iveta Bernátová Institute of Robotics and Cybernetics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovak Republic Institute of Normal and Pathological Physiology Slovak Academy of Sciences Bratislava Slovak Republic Institute of Physiology Academy of Sciences of the Czech Republic Prague Czech Republic

Blood pressure (BP) is one of the principal vital signs. The regulation of normal BP is critical for maintaining the normal functioning of an organism. The structure of the BP regulation in vertebrates, including humans, is very complex and it is not yet fully understood. There are several BP regulation subsystems which interact together. In this study, we analysed and modelled the role of the most important BP regulation systems (sympathetic nervous system, renin-angiotensin-aldosterone system, L-Arginine/nitric oxide) as well as the role of reactive oxygen species, the imbalance of which is implied in the development of hypertension disease. Our aim is to design a dynamic model of the BP regulation in normotensive rats, which can help us better understand the complex process of BP regulation. The BP responses were measured in conscious rats after acute stress with or without the application of selected drugs, which can inhibit particular regulation subsystems. Linear dynamic models of particular regulation subsystems were identified using genetic algorithms. Each subsystem is a feedback loop, which contains both the system dynamics and the controller. We describe the simulation-based identification procedure of these particular models as well as of the entire BP regulation system.

关键词： blood pressure regulation rat stress response linear dynamic model model identification genetic algorithm

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